IAI America PCON-CFA - Manual (Page 243)

5. Flow and Commands of Basic MECHA
TROLINK Communication
237
(27) Torque level (TRQS) PLC input signal
This signal is valid only during push-motion operation.
This signal turns ON when the motor current has reached the load threshold during push-motion operation (while
the actuator is moving inside the positioning band). Since the current is monitored by level, when the current
changes the ON/OFF status of this signal will also change. The speeds that can be used for push-motion
operation vary depending on the motor and lead. Accordingly, the applicable parameters must be adjusted.
x Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
x Set parameter No. 50, “Load output judgment time.”
x Set parameter No. 51, “Torque certification range” to “1 [Disable].”
x Set the threshold using the PLC’s load current threshold (*).
x Set the positioning band using the PLC’s positioning band (*).
Set a positioning band slightly longer than the last position by considering the mechanical variation of the load.
For details, refer to the operation manual for the controller.
(*) Refer to 5.4.1.
Warning: The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in this
condition.
The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Target position
Speed
Travel
Positioning band (maximum push distance)
Range within which this signal is output